mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 06:33:50 +08:00
FrogAi
203 lines
8.5 KiB
Python
203 lines
8.5 KiB
Python
#!/usr/bin/env python3
|
|
import random
|
|
|
|
from openpilot.common.conversions import Conversions as CV
|
|
from openpilot.common.realtime import DT_MDL
|
|
from openpilot.selfdrive.controls.controlsd import Desire
|
|
from openpilot.selfdrive.controls.lib.events import EventName, Events
|
|
|
|
from openpilot.selfdrive.frogpilot.assets.theme_manager import update_wheel_image
|
|
from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, params, params_memory
|
|
|
|
RANDOM_EVENTS_CHANCE = 0.01 * DT_MDL
|
|
|
|
class FrogPilotEvents:
|
|
def __init__(self, FrogPilotPlanner):
|
|
self.frogpilot_planner = FrogPilotPlanner
|
|
|
|
self.events = Events()
|
|
|
|
self.accel30_played = False
|
|
self.accel35_played = False
|
|
self.accel40_played = False
|
|
self.always_on_lateral_active_previously = False
|
|
self.dejaVu_played = False
|
|
self.fcw_played = False
|
|
self.firefox_played = False
|
|
self.goat_played = False
|
|
self.holiday_theme_played = False
|
|
self.no_entry_alert_played = False
|
|
self.openpilot_crashed_played = False
|
|
self.previous_traffic_mode = False
|
|
self.random_event_played = False
|
|
self.stopped_for_light = False
|
|
self.this_is_fine_played = False
|
|
self.vCruise69_played = False
|
|
self.youveGotMail_played = False
|
|
|
|
self.frame = 0
|
|
self.holiday_theme_frame = 0
|
|
self.max_acceleration = 0
|
|
self.random_event_timer = 0
|
|
self.tracking_lead_distance = 0
|
|
|
|
def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, lead_distance, modelData, v_lead, frogpilot_toggles):
|
|
self.events.clear()
|
|
|
|
if self.random_event_played:
|
|
self.random_event_timer += DT_MDL
|
|
if self.random_event_timer >= 4:
|
|
update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False)
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.random_event_played = False
|
|
self.random_event_timer = 0
|
|
|
|
if self.frogpilot_planner.frogpilot_vcruise.forcing_stop:
|
|
self.events.add(EventName.forcingStop)
|
|
|
|
if frogpilot_toggles.green_light_alert and not self.frogpilot_planner.tracking_lead and carState.standstill:
|
|
if not self.frogpilot_planner.model_stopped and self.stopped_for_light:
|
|
self.events.add(EventName.greenLight)
|
|
self.stopped_for_light = self.frogpilot_planner.cem.stop_light_detected
|
|
else:
|
|
self.stopped_for_light = False
|
|
|
|
if not self.holiday_theme_played and frogpilot_toggles.current_holiday_theme != "stock" and self.frame >= 10:
|
|
if self.holiday_theme_frame >= 1:
|
|
self.events.add(EventName.holidayActive)
|
|
self.holiday_theme_played = True
|
|
self.holiday_theme_frame += DT_MDL
|
|
|
|
if frogpilot_toggles.lead_departing_alert and self.frogpilot_planner.tracking_lead and carState.standstill:
|
|
if self.tracking_lead_distance == 0:
|
|
self.tracking_lead_distance = lead_distance
|
|
|
|
lead_departing = lead_distance - self.tracking_lead_distance > 1
|
|
lead_departing &= v_lead > 1
|
|
|
|
if lead_departing:
|
|
self.events.add(EventName.leadDeparting)
|
|
else:
|
|
self.tracking_lead_distance = 0
|
|
|
|
if not self.openpilot_crashed_played and self.frogpilot_planner.error_log.is_file():
|
|
if frogpilot_toggles.random_events:
|
|
self.events.add(EventName.openpilotCrashedRandomEvent)
|
|
else:
|
|
self.events.add(EventName.openpilotCrashed)
|
|
self.openpilot_crashed_played = True
|
|
|
|
if not self.random_event_played and frogpilot_toggles.random_events:
|
|
acceleration = carState.aEgo
|
|
|
|
if not carState.gasPressed:
|
|
self.max_acceleration = max(acceleration, self.max_acceleration)
|
|
else:
|
|
self.max_acceleration = 0
|
|
|
|
if not self.accel30_played and 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5:
|
|
self.events.add(EventName.accel30)
|
|
update_wheel_image("weeb_wheel")
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.accel30_played = True
|
|
self.random_event_played = True
|
|
self.max_acceleration = 0
|
|
|
|
elif not self.accel35_played and 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5:
|
|
self.events.add(EventName.accel35)
|
|
update_wheel_image("tree_fiddy")
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.accel35_played = True
|
|
self.random_event_played = True
|
|
self.max_acceleration = 0
|
|
|
|
elif not self.accel40_played and self.max_acceleration >= 4.0 and acceleration < 1.5:
|
|
self.events.add(EventName.accel40)
|
|
update_wheel_image("great_scott")
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.accel40_played = True
|
|
self.random_event_played = True
|
|
self.max_acceleration = 0
|
|
|
|
if not self.dejaVu_played and carState.vEgo > CRUISING_SPEED * 2:
|
|
if carState.vEgo > (1 / self.frogpilot_planner.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30:
|
|
self.events.add(EventName.dejaVuCurve)
|
|
self.dejaVu_played = True
|
|
self.random_event_played = True
|
|
|
|
if not self.no_entry_alert_played and frogpilotCarControl.noEntryEventTriggered:
|
|
self.events.add(EventName.hal9000)
|
|
self.no_entry_alert_played = True
|
|
self.random_event_played = True
|
|
|
|
if frogpilotCarControl.steerSaturatedEventTriggered:
|
|
event_choices = []
|
|
if not self.firefox_played:
|
|
event_choices.append("firefoxSteerSaturated")
|
|
if not self.goat_played:
|
|
event_choices.append("goatSteerSaturated")
|
|
if not self.this_is_fine_played:
|
|
event_choices.append("thisIsFineSteerSaturated")
|
|
|
|
if random.random() < RANDOM_EVENTS_CHANCE and event_choices:
|
|
event_choice = random.choice(event_choices)
|
|
if event_choice == "firefoxSteerSaturated":
|
|
self.events.add(EventName.firefoxSteerSaturated)
|
|
update_wheel_image("firefox")
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.firefox_played = True
|
|
elif event_choice == "goatSteerSaturated":
|
|
self.events.add(EventName.goatSteerSaturated)
|
|
update_wheel_image("goat")
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.goat_played = True
|
|
elif event_choice == "thisIsFineSteerSaturated":
|
|
self.events.add(EventName.thisIsFineSteerSaturated)
|
|
update_wheel_image("this_is_fine")
|
|
params_memory.put_bool("UpdateWheelImage", True)
|
|
self.this_is_fine_played = True
|
|
self.random_event_played = True
|
|
|
|
if not self.vCruise69_played and 70 > max(controlsState.vCruise, controlsState.vCruiseCluster) * (1 if frogpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69:
|
|
self.events.add(EventName.vCruise69)
|
|
self.vCruise69_played = True
|
|
self.random_event_played = True
|
|
|
|
if not self.fcw_played and frogpilotCarControl.fcwEventTriggered:
|
|
event_choices = ["toBeContinued", "yourFrogTriedToKillMe"]
|
|
if random.random() < RANDOM_EVENTS_CHANCE:
|
|
event_choice = random.choice(event_choices)
|
|
if event_choice == "toBeContinued":
|
|
self.events.add(EventName.toBeContinued)
|
|
elif event_choice == "yourFrogTriedToKillMe":
|
|
self.events.add(EventName.yourFrogTriedToKillMe)
|
|
self.fcw_played = True
|
|
self.random_event_played = True
|
|
|
|
if not self.youveGotMail_played and frogpilotCarControl.alwaysOnLateralActive and not self.always_on_lateral_active_previously:
|
|
if random.random() < RANDOM_EVENTS_CHANCE and not carState.standstill:
|
|
self.events.add(EventName.youveGotMail)
|
|
self.youveGotMail_played = True
|
|
self.random_event_played = True
|
|
self.always_on_lateral_active_previously = frogpilotCarControl.alwaysOnLateralActive
|
|
|
|
if frogpilot_toggles.speed_limit_changed_alert and self.frogpilot_planner.frogpilot_vcruise.slc.speed_limit_changed and self.frogpilot_planner.frogpilot_vcruise.speed_limit_timer < 1:
|
|
self.events.add(EventName.speedLimitChanged)
|
|
|
|
if 5 > self.frame > 4 and params.get("NNFFModelName", encoding='utf-8') is not None:
|
|
self.events.add(EventName.torqueNNLoad)
|
|
|
|
if frogpilotCarState.trafficModeActive != self.previous_traffic_mode:
|
|
if self.previous_traffic_mode:
|
|
self.events.add(EventName.trafficModeInactive)
|
|
else:
|
|
self.events.add(EventName.trafficModeActive)
|
|
self.previous_traffic_mode = frogpilotCarState.trafficModeActive
|
|
|
|
if modelData.meta.turnDirection == Desire.turnLeft:
|
|
self.events.add(EventName.turningLeft)
|
|
elif modelData.meta.turnDirection == Desire.turnRight:
|
|
self.events.add(EventName.turningRight)
|
|
|
|
self.frame += DT_MDL
|